tesla_transformer_20240813_01.py
をテンプレートにして作成
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[[factory_controller_01.py]]
#code(Python){{
# -*- coding: utf-8 -*-
#
# 2024 11/20
#
import math
from tkinter import *
import tkinter.font as tkFont
import matrix
import copy
import threading
import re
import socket
import time
#import readchar
from Cube import Cube
class Space:
''' Coordiante-system: Right-handed, Matrices are col...
WIDTH = 1280.0
HEIGHT = 960.0
SPEED = 0.05
EPSILON = 1.0e-8
ZERO = EPSILON
cxyz=[
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]]
]
pcx=3
pcy=3
pcz=3
pjxy=[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]]
pjyz=[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]]
pjzx=[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]]
cwxyz=[
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]]
]
def clear_cxyz(self):
for i in range(7):
for j in range(7):
for k in range(7):
self.cxyz[i][j][k]=0
def make_pjxy(self):
for i in range(7):
for j in range(7):
self.pjxy[i][j]=0
for k in range(7):
self.pjxy[i][j]+=self.cxyz[i][j][k]
print("pjxy")
for i in range(7):
print(self.pjxy[i])
def make_pjyz(self):
for i in range(7):
for j in range(7):
self.pjyz[i][j]=0
for k in range(7):
self.pjyz[i][j]+=self.cxyz[k][i][j]
print("pjyz")
for i in range(7):
print(self.pjyz[i])
def make_pjzx(self):
for i in range(7):
for j in range(7):
self.pjzx[i][j]=0
for k in range(7):
self.pjzx[i][j]+=self.cxyz[j][k][i]
print("pjzx")
for i in range(7):
print(self.pjzx[i])
def make_cxyz(self):
self.clear_cxyz()
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
self.cxyz[round(ccp.x)+self.pcx][round(ccp.y)...
print("cxyz")
for i in range(7):
print(self.cxyz[i])
def rotate_z_cw_90(self):
#for k in range(7):
# for i in range(7):
# for j in range(7):
# self.cwxyz[j][6-i][k]=self.cxyz[i][j...
#for i in range(7):
# for j in range(7):
# for k in range(7):
# self.cxyz[i][j][k]=self.cwxyz[i][j][k]
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
cx.rotate(0.0,0.0,90.0)
cx.moveTo(ccp.y,-ccp.x,ccp.z)
self.update(self.polygons_3D)
def rotate_x_cw_90(self):
#for k in range(7):
# for i in range(7):
# for j in range(7):
# self.cwxyz[k][j][6-i]=self.cxyz[k][i...
#for i in range(7):
# for j in range(7):
# for k in range(7):
# self.cxyz[i][j][k]=self.cwxyz[i][j][k]
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
cx.rotate(90.0,0.0,0.0)
cx.moveTo(ccp.x,ccp.z,-ccp.y)
self.update(self.polygons_3D)
def rotate_y_cw_90(self):
#for k in range(7):
# for i in range(7):
# for j in range(7):
# self.cwxyz[6-i][k][j]=self.cxyz[j][k...
#for i in range(7):
# for j in range(7):
# for k in range(7):
# self.cxyz[i][j][k]=self.cwxyz[i][j][k]
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
cx.rotate(0.0,90.0,0.0)
cx.moveTo(-ccp.z,ccp.y,ccp.x)
self.update(self.polygons_3D)
def max_width(self):
max_width=-10.0
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
if ccp.x>max_width:
max_width=ccp.x
return max_width
def min_width(self):
min_width=10.0
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
if ccp.x<min_width:
min_width=ccp.x
return min_width
def width(self):
return self.max_width()-self.min_width() +1.0
def max_height(self):
max_height=-10.0
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
if ccp.y>max_height:
max_height=ccp.y
return max_height
def min_height(self):
min_height=10.0
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
if ccp.y<min_height:
min_height=ccp.y
return min_height
def height(self):
return self.max_height()-self.min_height() +1.0
def max_depth(self):
max_depth=-10.0
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
if ccp.z>max_depth:
max_depth=ccp.z
return max_depth
def min_depth(self):
min_depth=10.0
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
if ccp.z<min_depth:
min_depth=ccp.z
return min_depth
def depth(self):
return self.max_depth()-self.min_depth() +1.0
def move_and_rotate_for_factory(self):
wx=round(self.width())
if wx<0.0:
print("no tesla dice.")
return
hx=round(self.height())
if hx>wx:
self.rotate_z_cw_90()
wx=round(self.width())
hx=round(self.height())
dx=round(self.depth())
if hx>dx:
self.rotate_x_cw_90()
wx=round(self.width())
hx=round(self.height())
dx=round(self.depth())
if dx>wx:
self.rotate_y_cw_90()
wx=round(self.width())
hx=round(self.height())
dx=round(self.depth())
if self.there_is_over_hang():
self.rotate_x_cw_90()
self.rotate_x_cw_90()
wx=round(self.width())
hx=round(self.height())
dx=round(self.depth())
if self.there_is_space_at_the_first_corner():
if hx<=1.01:
self.rotate_x_cw_90()
self.rotate_x_cw_90()
else:
self.rotate_y_cw_90()
self.rotate_y_cw_90()
def min_x(self):
min_x=10.0
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
if ccp.x<min_x:
min_x=ccp.x
return min_x
def min_y(self):
min_y=10.0
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
if ccp.y<min_y:
min_y=ccp.y
return min_y
def there_is_over_hang(self):
self.make_cxyz()
imin_y=round(self.min_y())
for i in range(7):
for j in range(7):
if self.cxyz[i][imin_y][j]==0:
if imin_y<6:
if self.cxyz[i][imin_y+1][j]==1:
return True
def there_is_space_at_the_first_corner(self):
self.make_cxyz()
imin_y=round(self.min_y())
imin_x=6
imin_z=6
for i in range(7):
for j in range(7):
if self.cxyz[i][imin_y][j]==1:
if i<imin_x:
imin_x=i
if j<imin_z:
imin_z=j
fc=self.cxyz[imin_x][imin_y][imin_z]
return fc==0
#ダイスの回転
# org: top red, forward green, left yellow, right ...
#
#top red の場合
# forward green : 回転無し。
# yellow : 右回転 ３回
# blue : 右回転２回
# black : 右回転１回
#
#top white の場合
# 縦回転: 2回
# forward green : 右回転２回
# yellow : 右回転 1回
# blue : 回転無し
# black : 右回転３回
#
#top blue の場合
# 縦回転: １回
# forward red : 回転なし
# yellow : 右回転 ３回
# white : 右回転２回
# black : 右回転１回
#
#top yellow の場合
# 右回転１回
# 縦回転: １回
# forward red : 回転なし
# blue : 右回転１回
# white : 右回転２回
# green : 右回転３回
#
# top green の場合
# 右回転 ２回
# 縦回転: １回
# forward red : 回転なし
# yellow : 右回転１回
# white : 右回転２回
# black : 右回転３回
#
#top black の場合
# 右回転 3回
# 縦回転: １回
# forward red : 回転なし
# green : 右回転１回
# white : 右回転２回
# blue : 右回転３回
def generate_rotation_procedure(self,cube):
top_face_id=cube.get_top_face()
top_face_color=cube.cls[top_face_id]
front_face_id=cube.get_front_face()
front_face_color=cube.cls[front_face_id]
if top_face_color=='red':
#top red の場合
# forward black : 回転無し。
# green : 右回転 ３回
# yellow : 右回転２回
# blue : 右回転１回
if front_face_color=='green':
rotation_proc='self.place_at_the_rotation...
self.factory.send_message_nl('asm m self....
rotation_proc=rotation_proc+'self.h_rotat...
#rotation_proc=rotation_proc+'self.h_rota...
self.factory.send_message_nl('asm m self....
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
return rotation_proc
elif front_face_color=='yellow':
rotation_proc='self.place_at_the_rotation...
self.factory.send_message_nl('asm m self....
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
self.factory.send_message_nl('asm m self....
return rotation_proc
elif front_face_color=='blue':
rotation_proc='self.place_at_the_rotation...
self.factory.send_message_nl('asm m self....
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
return rotation_proc
elif front_face_color=='gray':
rotation_proc='#no need to rotate\n'
return rotation_proc
elif top_face_color=='white':
#top white の場合
# 縦回転: 2回
# forward black : 右回転２回
# blue : 右回転 1回
# yellow : 回転無し
# green : 右回転３回
rotation_proc='self.place_at_the_rotation_poi...
self.factory.send_message_nl('asm m self.plac...
rotation_proc=rotation_proc+'self.v_rotate_f(...
self.factory.send_message_nl('asm m self.v_ro...
self.factory.send_message_nl('asm m self.v_ro...
if front_face_color=='green':
#rotation_proc=rotation_proc+'self.h_rota...
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
return rotation_proc
elif front_face_color=='yellow':
return rotation_proc
elif front_face_color=='blue':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
return rotation_proc
elif front_face_color=='gray':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
self.factory.send_message_nl('asm m self....
return rotation_proc
elif top_face_color=='yellow':
#top yellow の場合
# 縦回転: １回
# forward red : 回転なし
# : 右回転 ３回
# white : 右回転２回
# blue : 右回転１回
rotation_proc='self.place_at_the_rotation_poi...
self.factory.send_message_nl('asm m self.plac...
rotation_proc=rotation_proc+'self.v_rotate_f(...
self.factory.send_message_nl('asm m self.v_ro...
if front_face_color=='green':
rotation_proc=rotation_proc+'self.h_rotat...
#rotation_proc=rotation_proc+'self.h_rota...
self.factory.send_message_nl('asm m self....
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
return rotation_proc
elif front_face_color=='red':
return rotation_proc
elif front_face_color=='blue':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
return rotation_proc
elif front_face_color=='white':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
self.factory.send_message_nl('asm m self....
return rotation_proc
elif top_face_color=='green':
#top green の場合
# 右回転: 1回
# 縦回転: １回
# forward red : 回転なし
# black : 右回転 ３回
# white : 右回転２回
# blue : 右回転１回
rotation_proc='self.place_at_the_rotation_poi...
self.factory.send_message_nl('asm m self.plac...
rotation_proc='self.h_rotate_cw()\n'
self.factory.send_message_nl('asm m self.h_ro...
rotation_proc=rotation_proc+'self.v_rotate_f(...
self.factory.send_message_nl('asm m self.v_ro...
if front_face_color=='gray':
rotation_proc=rotation_proc+'self.h_rotat...
#rotation_proc=rotation_proc+'self.h_rota...
self.factory.send_message_nl('asm m self....
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
return rotation_proc
elif front_face_color=='red':
return rotation_proc
elif front_face_color=='yellow':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
return rotation_proc
elif front_face_color=='white':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
self.factory.send_message_nl('asm m self....
return rotation_proc
elif top_face_color=='gray':
#top green の場合
# 右回転: 2回
# 縦回転: １回
# forward red : 回転なし
# blue : 右回転 ３回
# white : 右回転２回
# green : 右回転１回
rotation_proc='self.place_at_the_rotation_poi...
self.factory.send_message_nl('asm m self.plac...
rotation_proc=rotation_proc+'self.h_rotate_cw...
self.factory.send_message_nl('asm m self.h_ro...
self.factory.send_message_nl('asm m self.h_ro...
rotation_proc=rotation_proc+'self.v_rotate_f(...
self.factory.send_message_nl('asm m self.v_ro...
if front_face_color=='blue':
rotation_proc=rotation_proc+'self.h_rotat...
#rotation_proc=rotation_proc+'self.h_rota...
self.factory.send_message_nl('asm m self....
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
return rotation_proc
elif front_face_color=='red':
return rotation_proc
elif front_face_color=='green':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
return rotation_proc
elif front_face_color=='white':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
self.factory.send_message_nl('asm m self....
return rotation_proc
elif top_face_color=='blue':
#top blue の場合
# left回転: 2回->1
# 縦回転: １回
# forward red : 回転なし
# yellow : 右回転 ３回->left 1
# white : 右回転２回
# grey : 右回転１回
rotation_proc='self.place_at_the_rotation_poi...
self.factory.send_message_nl('asm m self.plac...
rotation_proc=rotation_proc+'self.h_rotate_ac...
self.factory.send_message_nl('asm m self.h_ro...
#self.factory.send_message_nl('asm m self.h_r...
rotation_proc=rotation_proc+'self.v_rotate_f(...
self.factory.send_message_nl('asm m self.v_ro...
if front_face_color=='yellow':
rotation_proc=rotation_proc+'self.h_rotat...
#rotation_proc=rotation_proc+'self.h_rota...
self.factory.send_message_nl('asm m self....
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
return rotation_proc
elif front_face_color=='red':
return rotation_proc
elif front_face_color=='gray':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
return rotation_proc
elif front_face_color=='white':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
self.factory.send_message_nl('asm m self....
return rotation_proc
dice_array_xz=[[0,0,0,0,0],[0,0,0,0,0],[0,0,0,0,0],[0...
def init_assemble_info(self):
for i in range(5):
for j in range(5):
self.dice_array_xz[i][j]=0
def generate_move_procedure(self,i,j,k):
proc=''
if k==0:
if i==0 and j==0:
proc=proc+'self.place_at_0_0()'
self.dice_array_xz[i][j]=1
elif i==1 and j==0:
if self.dice_array_xz[0][0]==1:
proc=proc+'self.place_at_1_0_nx_00()'
self.dice_array_xz[1][0]=1
elif self.dice_array_xz[0][0]==0:
proc=proc+'self.place_at_1_0_nx_00()'
self.dice_array_xz[1][0]=1
elif i==2 and j==0:
if self.dice_array_xz[1][0]==1:
proc=proc+'self.place_at_2_0_nx_10()'
self.dice_array_xz[2][0]=1
elif self.dice_array_xz[1][0]==0:
proc=proc+'self.place_at_2_0_nx_10()'
self.dice_array_xz[2][0]=1 ...
elif i==3 and j==0:
if self.dice_array_xz[2][0]==1:
proc=proc+'self.place_at_3_0_nx_20()'
self.dice_array_xz[3][0]=1
elif self.dice_array_xz[2][0]==0:
proc=proc+'self.place_at_3_0_nx_20()'
self.dice_array_xz[3][0]=1 ...
elif i==0 and j==1:
proc=proc+'self.place_at_0_1()'
self.dice_array_xz[i][j]=1
elif i==1 and j==1:
if self.dice_array_xz[0][1]==1:
proc=proc+'self.place_at_1_1_nx_01()'
self.dice_array_xz[1][1]=1
elif self.dice_array_xz[0][1]==0:
proc=proc+'self.place_at_1_1_nx_01()'
self.dice_array_xz[1][1]=1
elif i==2 and j==1:
if self.dice_array_xz[1][0]==1:
proc=proc+'self.place_at_2_1_nx_11()'
self.dice_array_xz[2][1]=1
elif self.dice_array_xz[1][0]==0:
proc=proc+'self.place_at_2_1_nx_11()'
self.dice_array_xz[2][1]=1
elif i==3 and j==1:
if self.dice_array_xz[2][0]==1:
proc=proc+'self.place_at_3_1_nx_21()'
self.dice_array_xz[3][1]=1
elif self.dice_array_xz[2][0]==0:
proc=proc+'self.place_at_3_1_nx_21()'
self.dice_array_xz[3][1]=1
elif k==1:
if i==0 and j==0:
proc=proc+'self.place_at_0_0_1()'
self.dice_array_xz[i][j]=1
elif i==1 and j==0:
if self.dice_array_xz[0][0]==1:
proc=proc+'self.place_at_1_0_1_nx_00()'
self.dice_array_xz[1][0]=1
elif i==2 and j==0:
if self.dice_array_xz[1][0]==1:
proc=proc+'self.place_at_2_0_1_nx_10()'
self.dice_array_xz[2][0]=1
elif i==3 and j==0:
if self.dice_array_xz[2][0]==1:
proc=proc+'self.place_at_3_0_1_nx_20()'
self.dice_array_xz[3][0]=1
elif i==0 and j==1:
proc=proc+'self.place_at_0_1_1()'
self.dice_array_xz[i][j]=1
elif i==1 and j==1:
if self.dice_array_xz[0][1]==1:
proc=proc+'self.place_at_1_1_1_nx_01()'
self.dice_array_xz[1][1]=1
elif i==2 and j==1:
if self.dice_array_xz[1][0]==1:
proc=proc+'self.place_at_2_1_1_nx_11()'
self.dice_array_xz[2][1]=1
elif i==3 and j==1:
if self.dice_array_xz[2][0]==1:
proc=proc+'self.place_at_3_1_1_nx_21()'
self.dice_array_xz[3][1]=1
self.factory.send_message_nl('asm m '+proc)
return proc+'\n'
def generate_assemble_procedure(self):
min_y=round(self.min_height())
max_y=round(self.max_height())
min_x=round(self.min_width())
max_x=round(self.max_width())
min_z=round(self.min_depth())
max_z=round(self.max_depth())
proc='asm start.\n'
self.factory.send_message_nl('asm start.')
for k in reversed(range(min_z, max_z+1)):
for j in range(min_y, max_y+1):
for i in range(min_x, max_x+1):
for cx in self.polygons_3D:
ccx=cx.get_cube_center()
iccx_x=round(ccx.x)
iccx_y=round(ccx.y)
iccx_z=round(ccx.z)
if i==iccx_x and j==iccx_y and k=...
#print(cx.get_cube_center())
#print(iccx_x, iccx_y, iccx_z)
#print(ccx.x, ccx.y, ccx.z)
proc=proc+'self.get_dice_from...
self.factory.send_message_nl(...
rproc=self.generate_rotation_...
if rproc=='#no need to rotate...
if k==1:
proc=proc+'self.send_...
self.factory.send_mes...
if k==2:
proc=proc+'self.send_...
self.factory.send_mes...
else:
proc=proc+rproc ...
proc=proc+'self.get_at_th...
self.factory.send_message...
mx=i-min_x
mz=max_z-k
my=j-min_y
mproc=self.generate_move_proc...
proc=proc+mproc
return proc
def __init__(self):
print("start Space.__init__")
self.root = Tk()
self.root.resizable(False, False)
self.root.title('3D')
#self.chat_client=chat_client
left = (self.root.winfo_screenwidth() - Space.WID...
top = (self.root.winfo_screenheight() - Space.HEI...
self.root.geometry('%dx%d+%d+%d' % (Space.WIDTH, ...
self.graph = Canvas(self.root, width=Space.WIDTH,...
self.graph.pack()
self.walls = [matrix.Vector3D(7.0, 0.0, 0.0), mat...
self.wallsnormals = [matrix.Vector3D(-1.0, 0.0, 0...
#################
# self.cubenormals = []
# for i in range(len(self.cubefaces)):
# poly = []
# for j in range(len(self.cubefaces[i])):
# poly.append(self.cube[self.cubefaces[i][j]])
# self.cubenormals.append(self.calcNormalVec(poly))
#################
self.ang = [0.0, 0.0, 0.0] # phi(x), theta(y), ps...
self.trans = [0.0, 0.0, 2.0] # translation (x, y,...
#The matrices (Scale, Shear, Rotate, Translate) apply to...
#The Scale Matrix
self.Scale = matrix.Matrix(4, 4)
Scalex = 1.0
Scaley = 1.0
Scalez = 1.0
self.Scale[(0,0)] = Scalex
self.Scale[(1,1)] = Scaley
self.Scale[(2,2)] = Scalez
#The Shear Matrix
self.Shearxy = matrix.Matrix(4, 4)
self.Shearxy[(0,2)] = 0.0
self.Shearxy[(1,2)] = 0.0
self.Shearxz = matrix.Matrix(4, 4)
self.Shearxz[(0,1)] = 0.0
self.Shearxz[(2,1)] = 0.0
self.Shearyz = matrix.Matrix(4, 4)
self.Shearyz[(1,0)] = 0.0
self.Shearyz[(2,0)] = 0.0
self.Shear = self.Shearxy*self.Shearxz*self.Shearyz
#The Rotation Matrices
self.Rotx = matrix.Matrix(4,4)
self.Roty = matrix.Matrix(4,4)
self.Rotz = matrix.Matrix(4,4)
#The Translation Matrix (will contain xoffset, yo...
self.Tr = matrix.Matrix(4, 4)
self.Tr[(0,3)] = self.trans[0]
self.Tr[(1,3)] = self.trans[1]
self.Tr[(2,3)] = self.trans[2]
#The Projection Matrix
self.Proj = matrix.Matrix(4, 4)
#foc controls how much of the screen is viewed
fov = 60.0 #between 30 and 90 ?
zfar = 100.0
znear = 0.1
S = 1/(math.tan(math.radians(fov/2)))
A = Space.WIDTH/Space.HEIGHT
self.Proj[(0,0)] = S/A
self.Proj[(1,1)] = S
self.Proj[(2,2)] = (zfar+znear)/(znear-zfar)
self.Proj[(3,2)] = -1.0
self.Proj[(2,3)] = 2*(zfar*znear)/(znear-zfar)
# self.Proj[(3,3)] = 0.0
#ToScreen Matrix
self.toSC = matrix.Matrix(4, 4)
self.toSC[(0,0)] = Space.WIDTH/2
self.toSC[(1,1)] = -Space.HEIGHT/2
self.toSC[(0,3)] = Space.WIDTH/2
self.toSC[(1,3)] = Space.HEIGHT/2
# self.root.bind("<B1-Motion>", self.dragcallback)
# self.root.bind("<ButtonRelease-1>", self.releasecallba...
self.root.bind("<Key>", self.keycallback)
# self.root.bind("<KeyRelease>", self.keyreleasecallback)
self.fnt = tkFont.Font(family='Helvetica', size=1...
cube1=Cube(self)
cube1.set_name("s*")
self.cube1=cube1
cc1=cube1.get_cube_center()
self.cxyz[round(cc1.x)+self.pcx][round(cc1.y)+sel...
print(self.cxyz)
self.polygons_3D=[cube1]
self.update(self.polygons_3D)
#self.client_start() #comment out for debug
#self.mainloop()
def start_3d(self):
self.root.mainloop()
def clear(self):
cube1=Cube(self)
cube1.set_name("s*")
self.cube1=cube1
self.polygons_3D=[cube1]
self.clear_cxyz()
cc1=cube1.get_cube_center()
self.cxyz[round(cc1.x)+self.pcx][round(cc1.y)+sel...
print(self.cxyz)
self.update(self.polygons_3D)
def lookUpCube(self,name):
for i in range(len(self.polygons_3D)):
cx=self.polygons_3D[i]
if name==cx.name :
return cx
return None
def update(self,polygons_3D):
# Main simulation loop.
self.graph.delete(ALL)
self.Rotx[(1,1)] = math.cos(math.radians(360.0-se...
self.Rotx[(1,2)] = -math.sin(math.radians(360.0-s...
self.Rotx[(2,1)] = math.sin(math.radians(360.0-se...
self.Rotx[(2,2)] = math.cos(math.radians(360.0-se...
self.Roty[(0,0)] = math.cos(math.radians(360.0-se...
self.Roty[(0,2)] = math.sin(math.radians(360.0-se...
self.Roty[(2,0)] = -math.sin(math.radians(360.0-s...
self.Roty[(2,2)] = math.cos(math.radians(360.0-se...
self.Rotz[(0,0)] = math.cos(math.radians(360.0-se...
self.Rotz[(0,1)] = -math.sin(math.radians(360.0-s...
self.Rotz[(1,0)] = math.sin(math.radians(360.0-se...
self.Rotz[(1,1)] = math.cos(math.radians(360.0-se...
#The Rotation matrix
self.Rot = self.Rotx*self.Roty*self.Rotz
#Translation (just copying)
self.Tr[(0,3)] = -self.trans[0]
self.Tr[(1,3)] = -self.trans[1]
self.Tr[(2,3)] = -self.trans[2]
#The Transformation matrix
self.Tsf = self.Scale*self.Shear*self.Rot*self.Tr
#Computing the normals in __init__ and only rotat...
# print '+++++++++++++++'
# for i in range(len(self.cubenormals)):
# print self.Rot*self.cubenormals[i]
# print '+++++++++++++++'
# print '************'
#Cube
for ic in range(len(polygons_3D)):
cubex=polygons_3D[ic]
cubex.update()
cubefaces=cubex.cubefaces
cls=cubex.cls
for i in range(len(cubefaces)):
poly = [] #transformed polygon
for j in range(len(cubefaces[0])):
cube=cubex.cube
v = cube[cubefaces[i][j]]
#Scale, Shear, Rotate the vertex arou...
r=self.Tsf*v
poly.append(r)
n=self.calcNormalVec(poly)
#print n
if not self.isPolygonFrontFace(poly[0], n...
continue
poly2d = []
inviewingvolume = False
for j in range(len(poly)):
#put the point from 3D to 2D
ps =self.Proj*poly[j]
# Puut the screenpoint in the list of...
p=self.toSC*ps
x=int(p.x)
y = int(p.y)
poly2d.append((x, y))
#if only one point is in the screen (...
if (-1.0 <= ps.x <= 1.0) and (-1.0 <=...
inviewingvolume = True
if inviewingvolume:
self.graph.create_polygon(*poly2d...
cfx=cubex.cfaces
xface=cfx[i]
xface_led=xface[0]
for k in range(len(xface_led)): #...
v=xface_led[k]
r=self.Tsf*v
ps=self.Proj*r
p = self.toSC*ps
x, y = int(p.x), int(p.y)
self.graph.create_rectangle(x...
v=xface[1] #photo tr
r=self.Tsf*v
ps=self.Proj*r
p=self.toSC*ps
x,y=int(p.x), int(p.y)
self.graph.create_rectangle(x,y, ...
# cfx=cubex.cfaces
# for i in range(len(cfx)):
# xface=cfx[i]
# xface_led=xface[0]
# for j in range(len(xface_led)):
# v=xface_led[j]
# r=self.Tsf*v
# ps=self.Proj*r
# p = self.toSC*ps
# x, y = int(p.x), int(p.y)
# self.graph.create_rectangle(x, y, x+...
# v=xface[1]
# r=self.Tsf*v
# ps=self.Proj*r
# p=self.toSC*ps
# x,y=int(p.x), int(p.y)
# self.graph.create_rectangle(x,y, x+3, y+...
#Texts (these are in camera-CS)
txt1 = 'xpos: '+str(self.trans[0])+' ypos: '+str(...
txt2 = 'xrot: '+str(self.ang[0])+' yrot: '+str(se...
self.idTxt1 = self.graph.create_text(30,30, text=...
self.idTxt2 = self.graph.create_text(30,60, text=...
vFwd = self.getForwardVec2(self.ang[1])
txt3 = 'Fwd: '+str(vFwd)
self.idTxt3 = self.graph.create_text(30,90, text=...
def isPolygonFrontFace(self, v, n):#Clockwise?
'''v is a vertex of the polygon, n is the normal-...
#The camera should be at (0.0, 0.0, 0.0) but that...
#It seems that the camera is at (0.0, 0.0, 1.0)
c = matrix.Vector3D(0.0, 0.0, 1.0)
vv = v-c
r = vv.dot(n)
return r < 0.0
def calcNormalVec(self, p):
'''p is an array of vertices of the polygon/face'''
v1 = p[0]-p[1]
v2 = p[0]-p[3]
v = v1.cross(v2)
v.normalize()
return v
def getForwardVec1(self): #Where the camera is facing...
m = self.Rot.invert()
f1 = m[(0,2)]
f2 = m[(1,2)]
f3 = m[(2,2)]
v = matrix.Vector3D(f1, f2, f3)
v.normalize()
#Forward vector is really backward one, so need to be n...
return -v
def getForwardVec2(self, yrot): #Where the camera is ...
f1 = -math.sin(math.radians(yrot))
f2 = 0.0
f3 = -math.cos(math.radians(yrot))
v = matrix.Vector3D(f1, f2, f3)
return v
def isCollisionPlanes(self, campos, camdir):
num = len(self.walls)
for i in range(num):
iscol, dist = self.isCollisionPlane(self.wall...
if iscol and dist < 0.1:
#print( i+1, dist)
return True
return False
def isCollisionPlane(self, p, n, campos, camdir):
'''instead of pointonplane (p) and normalofplane ...
dist = 0.0
#Dot Product Between Plane Normal And Ray Direction
dotprod = camdir.dot(n)
#Determine If Ray Parallel To Plane
if ((dotprod < Space.ZERO) and (dotprod > -Space....
return False, dist
#Find Distance To Collision Point
dist = (n.dot(p-campos))/dotprod
#Test If Collision Behind Start
if (dist < -Space.ZERO):
return False, dist
return True, dist
def isCollisionCube(self, campos,polygons_3D):
'''Checks if the camera is inside the cube (this ...
for i in range(len(polygons_3D)):
cube=(polygons_3D[i]).cube
cubefaces=(polygons_3D[i]).cubefaces
if (campos.z >= cube[cubefaces[0][0]].z and c...
return True
return False
def keycallback(self, event):
# print event.char
# print event.keycode
# print event.keysym
#Foward
if event.keysym == 'Up':
vFwd = self.getForwardVec2(self.ang[1])
#Is there a collison?
pos = matrix.Vector3D(self.trans[0]+vFwd.x*Sp...
if self.isCollisionPlanes(pos, vFwd):
return
if self.isCollisionCube(pos,self.polygons_3D):
return
self.trans[0] += vFwd.x*Space.SPEED
self.trans[2] += vFwd.z*Space.SPEED
#Backward
elif event.keysym == 'Down':
vFwd = self.getForwardVec2(self.ang[1])
vBck = -vFwd
#Is there a collison?
pos = matrix.Vector3D(self.trans[0]-vFwd.x*Sp...
if self.isCollisionPlanes(pos, vBck):
return
if self.isCollisionCube(pos,self.polygons_3D):
return
self.trans[0] -= vFwd.x*Space.SPEED
self.trans[2] -= vFwd.z*Space.SPEED
#Turn right
elif event.keysym == 'Right':
self.ang[1] -= 1.5
#Turn left
elif event.keysym == 'Left':
self.ang[1] += 1.5
#Upwards
elif event.keysym == 'u':
#Is there a collison?
pos = matrix.Vector3D(self.trans[0], self.tra...
vUp = matrix.Vector3D(0.0, 1.0, 0.0)
if self.isCollisionPlanes(pos, vUp):
return
if self.isCollisionCube(pos,self.polygons_3D):
return
self.trans[1] += Space.SPEED
#Downwards
elif event.keysym == 'd':
#Is there a collison?
pos = matrix.Vector3D(self.trans[0], self.tra...
vDwn = matrix.Vector3D(0.0, -1.0, 0.0)
if self.isCollisionPlanes(pos, vDwn):
return
if self.isCollisionCube(pos,self.polygons_3D):
return
self.trans[1] -= Space.SPEED
#Quit
elif event.keysym == 'Escape':
self.quit()
if self.ang[1] >= 360.0:
self.ang[1] -= 360.0
if self.ang[1] < 0.0:
self.ang[1] += 360.0
self.update(self.polygons_3D)
def quit(self):
self.root.quit()
def client_start(self):
""" start client """
print("start client_start")
handle_thread = threading.Thread(target=self.hand...
self.parse("send up \"str (this s* f2d1 next s*4 ...
self.parse("send up \"str (this s*4 f2d1 next s*4...
self.update(self.polygons_3D)
handle_thread = threading.Thread(target=self.hand...
handle_thread.start()
def handler(self):
""" receive commands from terminal """
while True:
print("input...")
line=input()
self.parse(line)
self.update(self.polygons_3D)
#def clear(self):
#cube1=Cube(self)
#cube1.set_name("s*")
#self.polygons_3D=[self.cube1]
#self.clear_cxyz()
#cc1=self.cube1.get_cube_center()
#self.cxyz[round(cc1.x)+self.pcx][round(cc1.y)+se...
#self.update(self.polygons_3D)
def parse(self,line):
#self.python2fwb(">"+line)
print("Space:parse "+line)
p=line.find("send up ")
if(p<0):
return
xl=line[(p+len("send up ")):]
#print("xl="+xl)
px=parser(xl)
px.rb()
if not (px.key("\"")):
return
if not px.key("str "):
return
px.rb()
if not px.key("("):
return
px.rb()
if not px.key("this "):
return
px.rb()
xn=[""]
if not px.d_name(xn):
return
px.rb()
dn1=xn[0]
cn=[(0,0)]
if not px.connect(cn):
return
cn1=cn[0]
px.rb()
if not px.key("next "):
return
px.rb()
xn=[""]
if not px.d_name(xn):
return
dn2=xn[0]
px.rb()
if not px.connect(cn):
return
cn2=cn[0]
px.rb()
if not px.key(")"):
return
px.rb()
if not px.key("\""):
return
px.rb()
if not px.key("."):
return
print("dn1="+dn1)
cc2=None
cube1=self.lookUpCube(dn1)
if cube1 == None:
print("new "+dn1)
cube1=Cube(self)
cube1.set_name(dn1)
self.polygons_3D.append(cube1)
cc1=cube1.get_cube_center()
self.cxyz[round(cc1.x)+self.pcx][round(cc1.y)...
print(self.cxyz)
print("dn2="+dn2)
cube2=self.lookUpCube(dn2)
if cube2 == None:
print("new "+dn2)
cube2=Cube(self)
cube2.set_name(dn2)
self.polygons_3D.append(cube2)
print(cn1)
print(cn2)
if1=cn1[0]
if2=cn2[0]
id1=cn1[1]
id2=cn2[1]
v2=cube1.get_next_place_position(if1)
cube2.moveTo(v2.x,v2.y,v2.z)
cube1.rotate_nextdoor_cube_until_match_the_face(i...
cube1.rotate_nextdoor_cube_until_match_the_direct...
self.update(self.polygons_3D)
cc2=cube2.get_cube_center()
self.cxyz[round(cc2.x)+self.pcx][round(cc2.y)+sel...
#print(self.cxyz)
#self.make_pjxy()
#self.make_pjyz()
#self.make_pjzx()
#print("rotate_z_cw_90")
#self.rotate_z_cw_90()
#self.make_pjxy()
#self.make_pjyz()
#self.make_pjzx()
#print("rotate_x_cw_90")
#self.rotate_x_cw_90()
#self.make_pjxy()
#self.make_pjyz()
#self.make_pjzx()
def set_factory(self,factory):
self.factory=factory
class parser:
#
# srs.
# ok.
# fid=2. received=ack1 face 4 dir 0 uDir 0.
# this face(2):dir(0)<-> next face(4):dir(0)
# send up "str (this s* f2d0 next s*4 f4d0)".
# fid=2, received=send up "str (this s*4 f2d0 next s*44 f...
# str (this s*4 f2d0 next s*44 f4d0)
# ok
# fid=2, received=send up "str (this s*44 f2d0 next s*444...
# str (this s*44 f2d0 next s*444 f4d0)".
# ok
#
def __init__(self,line):
self.line=line
print("parser init "+line)
def alpha(self,p2a):
#print("alpha line="+self.line)
c=self.line[0]
p2a[0]=c
if(c.isalpha()):
self.line=self.line[1:]
return True
return False
def digit(self,p2i):
#print("digit line="+self.line)
c=self.line[0]
if(c.isdigit()):
p2i[0]=int(c)
self.line=self.line[1:]
return True
return False
def d_name(self,xn):
#print("d_name line="+self.line)
cl=['']
if not self.alpha(cl):
return False
xn[0]=xn[0]+cl[0]
if not self.key("*"):
return False
xn[0]=xn[0]+"*"
dx=[0]
while self.digit(dx):
xn[0]=xn[0]+str(dx[0])
return True
def connect(self,tx):
#print("connect line="+self.line)
if not self.key("f"):
return False
fx=[0]
if not self.digit(fx):
return False
if not self.key("d"):
return False
dx=[0]
if not self.digit(dx):
return False
tx[0]=(fx[0],dx[0])
return True
def key(self,key):
#print("key line="+self.line)
#print("key="+key)
tf=self.line.startswith(key)
print(tf)
if(self.line.startswith(key)):
lk=len(key)
self.line=self.line[lk:]
return True
return False
def rb(self):
while self.key(' '):
continue
#
# +---------------------------------------------------...
# | TESLA ...
# | +-----------+ +--------------+ DICE ...
# | | mbed | |m5atom | ...
# | | |<--UART-->|tcp_server_ex1| ...
# | +-----------+ +--------------+ ...
# | ^ ...
# +--------------------------- | ---------------------...
# |
# wifi.... SSID YAMA-M5ATO...
# | PASS 12345678
# |
# +--------------------------- | ---------------------...
# | v PC ...
# | +------------------+ ...
# | |Chat_Client |
# | | |
# | v |
# | handler |
# | | |
# | v |
# | parser |
# | | |
# +----|-------------+
# |
# | put
# v
# +------------------+
# |ex04.py |
# | | |
# | v |
# | handler |
# +------------------+
#
# coding: utf-8
#from PIL import Image, ImageFont, ImageDraw
#import time
#import sys
#import requests
#import os
#import socket
#import threading
#from collections import deque
#import subprocess
#import copy
class Factory_Client:
sock = socket.socket(socket.AF_INET, socket.SOCK_STRE...
HOST = 'localhost'
PORT = 9998
def __init__(self):
print("start Factory_Client.__init__")
def start_input_thread(self):
handle_thread2 = threading.Thread(target=self.start...
handle_thread2.start()
# operation example
# 1. turn on all tesla dices
# 2. start this program, tesla_transformer_20240813...
# Graphics window will be displayed.
# 3. input h. for confirmation of the connection be...
# this program and tesla dices.
# 4. assemble the object by putting together the te...
# 5. input the command, "srs." for start recursive ...
# 6. the assemble object will be displayed on the g...
# 7. input the command, "rotate f."
# 8. input the command, "generate."
# 9. input the command, "assemble."
def send_message_nl(self,py2x_message):
msg=py2x_message+'\n'
try:
self.sock.sendall(msg.encode('utf-8',errors='re...
except Exception as e:
print("send message error: {0}".format(e))
return
print("send the message to the factory.")
def send_message(self,py2x_message):
msg=py2x_message
try:
self.sock.sendall(msg.encode('utf-8',errors='repl...
except Exception as e:
print("send message error: {0}".format(e))
def client_start(self):
"""start client"""
try:
self.sock.connect((self.HOST, self.PORT))
except Exception as e:
print("factory connect error: {0}".format(e))
return
print("factory {0}:{1} connected".format(self.HOST,...
handle_thread = threading.Thread(target=self.handle...
handle_thread.start()
def handler(self,sock):
"""receive the message from the server and print it...
while True:
lx=""
while True:
data = sock.recv(1024)
dl=len(data)
try:
rd=data.decode('utf-8')
except:
rd='?'*dl
for i in range(rd):
c=rd[i]
lx=lx+c
if c=="." or c=="\n":
print("[receive] "+lx)
lx=""
if c=="." or c=="\n":
break
print("[receive]-"+lx)
if self.space!=None:
print("factory-"+lx)
class Chat_Client:
sock = socket.socket(socket.AF_INET, socket.SOCK_STRE...
HOST = '192.168.4.1'
PORT = 23
def __init__(self):
print("start Chat_Client.__init__")
def set_space(self,space):
self.space=space
def start_input_thread(self):
handle_thread2 = threading.Thread(target=self.start...
handle_thread2.start()
def set_factory(self,factory):
self.factory=factory
# operation example
# 1. turn on all tesla dices
# 2. start this program, tesla_transformer_20240813...
# Graphics window will be displayed.
# 3. input the command, "connect dice."
# 4. input the commnad, "connect factory."
# 5. input h. for confirmation of the connection be...
# this program and tesla dices.
# 6. assemble the object by putting together the te...
# 7. input the command, "srs." for start recursive ...
# 8. the assemble object will be displayed on the g...
# 9. input the command, "rotate f."
# 10. input the command, "generate."
# 11. input the command, "assemble."
def start_input(self,sock):
print("sock=")
print(sock)
print("input...")
line=""
cx=bytearray(8)
while True:
try:
line=input()
if line=="clear.":
self.send_message("srr.")
self.space.clear()
elif line.startswith("connect "):
line=line[len("connect "):]
while line.startswith(" "):
line=line[1:]
if line.startswith("factory."):
self.factory.client_start()
elif line.startswith("dice."):
self.client_start()
elif line.startswith("print "):
line=line[len("print "):]
while line.startswith(" "):
line=line[1:]
if line.startswith("xy."):
space.make_pjxy()
elif line.startswith("yz."):
space.make_pjyz()
elif line.startswith("zx."):
space.make_pjzx()
elif line.startswith("rotate "):
line=line[len("rotate "):]
while line.startswith(" "):
line=line[1:]
if line.startswith("z."):
space.rotate_z_cw_90()
elif line.startswith("y."):
space.rotate_y_cw_90()
elif line.startswith("x."):
space.rotate_x_cw_90()
elif line.startswith("f."):
space.move_and_rotate_for_factory()
elif line.startswith("generate."):
self.proc=space.generate_assemble_procedu...
print("generated proc=")
print(self.proc)
elif line.startswith("assemble."):
self.factory.send_message_nl(self.proc)
elif line.startswith("send "):
space.parse(line)
else:
for i in range(len(line)):
c=line[i]
#c=readchar.readkey()
#print(c)
#cx[0]=c.encode('utf-8')
#cx[1]=0x00
sock.sendall(c.encode('ascii',errors=...
time.sleep(0.01)
except:
print("error")
def send_message_nl(self,py2x_message):
msg=py2x_message+'\n'
self.sock.sendall(msg.encode('ascii',errors='replac...
def send_message(self,py2x_message):
msg=py2x_message
try:
self.sock.sendall(msg.encode('ascii',errors='re...
except Exception as e:
print(e)
def parse(self,line):
vf.parse(line)
def client_start(self):
"""start client"""
self.sock.connect((self.HOST, self.PORT))
handle_thread = threading.Thread(target=self.handle...
handle_thread.start()
def handler(self,sock):
"""receive the message from the server and print it...
while True:
lx=""
while True:
data = sock.recv(1024)
dl=len(data)
try:
rd=data.decode('utf-8')
except:
rd='?'*dl
for i in range(dl):
c=rd[i]
lx=lx+c
if c=="." or c=="\n":
print("[receive] "+lx)
self.parseLines(lx)
lx=""
#print(c)
if c=="." or c=="\n":
break
print("[receive]-"+lx)
if self.space!=None:
print("parse-"+lx)
self.parseLines(lx)
def parseLines(self,ls):
lsx=ls.splitlines()
for i in range(len(lsx)):
self.space.parse(lsx[i])
class Offline_Client:
def __init__(self):
print("start Offline_Client.__init__")
def set_space(self,space):
self.space=space
def start_input_thread(self):
handle_thread2 = threading.Thread(target=self.sta...
handle_thread2.start()
def start_input(self,space):
print("input...")
line=""
while True:
try:
line=input()
if line=="clear.":
space.clear()
elif line.startswith("print "):
line=line[len("print "):]
while line.startswith(" "):
line=line[1:]
if line.startswith("xy."):
space.make_pjxy()
elif line.startswith("yz."):
space.make_pjyz()
elif line.startswith("zx."):
space.make_pjzx()
elif line.startswith("connect "):
line=line[len("connect "):]
while line.startswith(" "):
line=line[1:]
if line.startswith("factory."):
factory.client_start()
elif line.startswith("dice."):
client.client_start()
elif line.startswith("rotate "):
line=line[len("rotate "):]
while line.startswith(" "):
line=line[1:]
if line.startswith("z."):
space.rotate_z_cw_90()
elif line.startswith("y."):
space.rotate_y_cw_90()
elif line.startswith("x."):
space.rotate_x_cw_90()
elif line.startswith("f."):
space.move_and_rotate_for_factory()
elif line.startswith("generate."):
proc=space.generate_assemble_procedur...
print("generated proc=")
print(proc)
else:
space.parse(line)
except Exception as e:
print(e)
print("error")
if __name__ == "__main__":
client=Chat_Client()
#client=Offline_Client()
space=Space()
factory=Factory_Client()
client.set_space(space)
space.set_factory(factory)
#client.client_start()
client.start_input_thread()
client.set_factory(factory)
space.start_3d()
}}
終了行:
[[factory_controller_01.py]]
#code(Python){{
# -*- coding: utf-8 -*-
#
# 2024 11/20
#
import math
from tkinter import *
import tkinter.font as tkFont
import matrix
import copy
import threading
import re
import socket
import time
#import readchar
from Cube import Cube
class Space:
''' Coordiante-system: Right-handed, Matrices are col...
WIDTH = 1280.0
HEIGHT = 960.0
SPEED = 0.05
EPSILON = 1.0e-8
ZERO = EPSILON
cxyz=[
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]]
]
pcx=3
pcy=3
pcz=3
pjxy=[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]]
pjyz=[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]]
pjzx=[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]]
cwxyz=[
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]],
[[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0],[0,0,0,0,0,0,0],
[0,0,0,0,0,0,0]]
]
def clear_cxyz(self):
for i in range(7):
for j in range(7):
for k in range(7):
self.cxyz[i][j][k]=0
def make_pjxy(self):
for i in range(7):
for j in range(7):
self.pjxy[i][j]=0
for k in range(7):
self.pjxy[i][j]+=self.cxyz[i][j][k]
print("pjxy")
for i in range(7):
print(self.pjxy[i])
def make_pjyz(self):
for i in range(7):
for j in range(7):
self.pjyz[i][j]=0
for k in range(7):
self.pjyz[i][j]+=self.cxyz[k][i][j]
print("pjyz")
for i in range(7):
print(self.pjyz[i])
def make_pjzx(self):
for i in range(7):
for j in range(7):
self.pjzx[i][j]=0
for k in range(7):
self.pjzx[i][j]+=self.cxyz[j][k][i]
print("pjzx")
for i in range(7):
print(self.pjzx[i])
def make_cxyz(self):
self.clear_cxyz()
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
self.cxyz[round(ccp.x)+self.pcx][round(ccp.y)...
print("cxyz")
for i in range(7):
print(self.cxyz[i])
def rotate_z_cw_90(self):
#for k in range(7):
# for i in range(7):
# for j in range(7):
# self.cwxyz[j][6-i][k]=self.cxyz[i][j...
#for i in range(7):
# for j in range(7):
# for k in range(7):
# self.cxyz[i][j][k]=self.cwxyz[i][j][k]
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
cx.rotate(0.0,0.0,90.0)
cx.moveTo(ccp.y,-ccp.x,ccp.z)
self.update(self.polygons_3D)
def rotate_x_cw_90(self):
#for k in range(7):
# for i in range(7):
# for j in range(7):
# self.cwxyz[k][j][6-i]=self.cxyz[k][i...
#for i in range(7):
# for j in range(7):
# for k in range(7):
# self.cxyz[i][j][k]=self.cwxyz[i][j][k]
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
cx.rotate(90.0,0.0,0.0)
cx.moveTo(ccp.x,ccp.z,-ccp.y)
self.update(self.polygons_3D)
def rotate_y_cw_90(self):
#for k in range(7):
# for i in range(7):
# for j in range(7):
# self.cwxyz[6-i][k][j]=self.cxyz[j][k...
#for i in range(7):
# for j in range(7):
# for k in range(7):
# self.cxyz[i][j][k]=self.cwxyz[i][j][k]
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
cx.rotate(0.0,90.0,0.0)
cx.moveTo(-ccp.z,ccp.y,ccp.x)
self.update(self.polygons_3D)
def max_width(self):
max_width=-10.0
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
if ccp.x>max_width:
max_width=ccp.x
return max_width
def min_width(self):
min_width=10.0
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
if ccp.x<min_width:
min_width=ccp.x
return min_width
def width(self):
return self.max_width()-self.min_width() +1.0
def max_height(self):
max_height=-10.0
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
if ccp.y>max_height:
max_height=ccp.y
return max_height
def min_height(self):
min_height=10.0
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
if ccp.y<min_height:
min_height=ccp.y
return min_height
def height(self):
return self.max_height()-self.min_height() +1.0
def max_depth(self):
max_depth=-10.0
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
if ccp.z>max_depth:
max_depth=ccp.z
return max_depth
def min_depth(self):
min_depth=10.0
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
if ccp.z<min_depth:
min_depth=ccp.z
return min_depth
def depth(self):
return self.max_depth()-self.min_depth() +1.0
def move_and_rotate_for_factory(self):
wx=round(self.width())
if wx<0.0:
print("no tesla dice.")
return
hx=round(self.height())
if hx>wx:
self.rotate_z_cw_90()
wx=round(self.width())
hx=round(self.height())
dx=round(self.depth())
if hx>dx:
self.rotate_x_cw_90()
wx=round(self.width())
hx=round(self.height())
dx=round(self.depth())
if dx>wx:
self.rotate_y_cw_90()
wx=round(self.width())
hx=round(self.height())
dx=round(self.depth())
if self.there_is_over_hang():
self.rotate_x_cw_90()
self.rotate_x_cw_90()
wx=round(self.width())
hx=round(self.height())
dx=round(self.depth())
if self.there_is_space_at_the_first_corner():
if hx<=1.01:
self.rotate_x_cw_90()
self.rotate_x_cw_90()
else:
self.rotate_y_cw_90()
self.rotate_y_cw_90()
def min_x(self):
min_x=10.0
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
if ccp.x<min_x:
min_x=ccp.x
return min_x
def min_y(self):
min_y=10.0
for cx in self.polygons_3D:
ccp=cx.get_cube_center()
if ccp.y<min_y:
min_y=ccp.y
return min_y
def there_is_over_hang(self):
self.make_cxyz()
imin_y=round(self.min_y())
for i in range(7):
for j in range(7):
if self.cxyz[i][imin_y][j]==0:
if imin_y<6:
if self.cxyz[i][imin_y+1][j]==1:
return True
def there_is_space_at_the_first_corner(self):
self.make_cxyz()
imin_y=round(self.min_y())
imin_x=6
imin_z=6
for i in range(7):
for j in range(7):
if self.cxyz[i][imin_y][j]==1:
if i<imin_x:
imin_x=i
if j<imin_z:
imin_z=j
fc=self.cxyz[imin_x][imin_y][imin_z]
return fc==0
#ダイスの回転
# org: top red, forward green, left yellow, right ...
#
#top red の場合
# forward green : 回転無し。
# yellow : 右回転 ３回
# blue : 右回転２回
# black : 右回転１回
#
#top white の場合
# 縦回転: 2回
# forward green : 右回転２回
# yellow : 右回転 1回
# blue : 回転無し
# black : 右回転３回
#
#top blue の場合
# 縦回転: １回
# forward red : 回転なし
# yellow : 右回転 ３回
# white : 右回転２回
# black : 右回転１回
#
#top yellow の場合
# 右回転１回
# 縦回転: １回
# forward red : 回転なし
# blue : 右回転１回
# white : 右回転２回
# green : 右回転３回
#
# top green の場合
# 右回転 ２回
# 縦回転: １回
# forward red : 回転なし
# yellow : 右回転１回
# white : 右回転２回
# black : 右回転３回
#
#top black の場合
# 右回転 3回
# 縦回転: １回
# forward red : 回転なし
# green : 右回転１回
# white : 右回転２回
# blue : 右回転３回
def generate_rotation_procedure(self,cube):
top_face_id=cube.get_top_face()
top_face_color=cube.cls[top_face_id]
front_face_id=cube.get_front_face()
front_face_color=cube.cls[front_face_id]
if top_face_color=='red':
#top red の場合
# forward black : 回転無し。
# green : 右回転 ３回
# yellow : 右回転２回
# blue : 右回転１回
if front_face_color=='green':
rotation_proc='self.place_at_the_rotation...
self.factory.send_message_nl('asm m self....
rotation_proc=rotation_proc+'self.h_rotat...
#rotation_proc=rotation_proc+'self.h_rota...
self.factory.send_message_nl('asm m self....
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
return rotation_proc
elif front_face_color=='yellow':
rotation_proc='self.place_at_the_rotation...
self.factory.send_message_nl('asm m self....
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
self.factory.send_message_nl('asm m self....
return rotation_proc
elif front_face_color=='blue':
rotation_proc='self.place_at_the_rotation...
self.factory.send_message_nl('asm m self....
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
return rotation_proc
elif front_face_color=='gray':
rotation_proc='#no need to rotate\n'
return rotation_proc
elif top_face_color=='white':
#top white の場合
# 縦回転: 2回
# forward black : 右回転２回
# blue : 右回転 1回
# yellow : 回転無し
# green : 右回転３回
rotation_proc='self.place_at_the_rotation_poi...
self.factory.send_message_nl('asm m self.plac...
rotation_proc=rotation_proc+'self.v_rotate_f(...
self.factory.send_message_nl('asm m self.v_ro...
self.factory.send_message_nl('asm m self.v_ro...
if front_face_color=='green':
#rotation_proc=rotation_proc+'self.h_rota...
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
return rotation_proc
elif front_face_color=='yellow':
return rotation_proc
elif front_face_color=='blue':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
return rotation_proc
elif front_face_color=='gray':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
self.factory.send_message_nl('asm m self....
return rotation_proc
elif top_face_color=='yellow':
#top yellow の場合
# 縦回転: １回
# forward red : 回転なし
# : 右回転 ３回
# white : 右回転２回
# blue : 右回転１回
rotation_proc='self.place_at_the_rotation_poi...
self.factory.send_message_nl('asm m self.plac...
rotation_proc=rotation_proc+'self.v_rotate_f(...
self.factory.send_message_nl('asm m self.v_ro...
if front_face_color=='green':
rotation_proc=rotation_proc+'self.h_rotat...
#rotation_proc=rotation_proc+'self.h_rota...
self.factory.send_message_nl('asm m self....
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
return rotation_proc
elif front_face_color=='red':
return rotation_proc
elif front_face_color=='blue':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
return rotation_proc
elif front_face_color=='white':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
self.factory.send_message_nl('asm m self....
return rotation_proc
elif top_face_color=='green':
#top green の場合
# 右回転: 1回
# 縦回転: １回
# forward red : 回転なし
# black : 右回転 ３回
# white : 右回転２回
# blue : 右回転１回
rotation_proc='self.place_at_the_rotation_poi...
self.factory.send_message_nl('asm m self.plac...
rotation_proc='self.h_rotate_cw()\n'
self.factory.send_message_nl('asm m self.h_ro...
rotation_proc=rotation_proc+'self.v_rotate_f(...
self.factory.send_message_nl('asm m self.v_ro...
if front_face_color=='gray':
rotation_proc=rotation_proc+'self.h_rotat...
#rotation_proc=rotation_proc+'self.h_rota...
self.factory.send_message_nl('asm m self....
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
return rotation_proc
elif front_face_color=='red':
return rotation_proc
elif front_face_color=='yellow':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
return rotation_proc
elif front_face_color=='white':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
self.factory.send_message_nl('asm m self....
return rotation_proc
elif top_face_color=='gray':
#top green の場合
# 右回転: 2回
# 縦回転: １回
# forward red : 回転なし
# blue : 右回転 ３回
# white : 右回転２回
# green : 右回転１回
rotation_proc='self.place_at_the_rotation_poi...
self.factory.send_message_nl('asm m self.plac...
rotation_proc=rotation_proc+'self.h_rotate_cw...
self.factory.send_message_nl('asm m self.h_ro...
self.factory.send_message_nl('asm m self.h_ro...
rotation_proc=rotation_proc+'self.v_rotate_f(...
self.factory.send_message_nl('asm m self.v_ro...
if front_face_color=='blue':
rotation_proc=rotation_proc+'self.h_rotat...
#rotation_proc=rotation_proc+'self.h_rota...
self.factory.send_message_nl('asm m self....
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
return rotation_proc
elif front_face_color=='red':
return rotation_proc
elif front_face_color=='green':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
return rotation_proc
elif front_face_color=='white':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
self.factory.send_message_nl('asm m self....
return rotation_proc
elif top_face_color=='blue':
#top blue の場合
# left回転: 2回->1
# 縦回転: １回
# forward red : 回転なし
# yellow : 右回転 ３回->left 1
# white : 右回転２回
# grey : 右回転１回
rotation_proc='self.place_at_the_rotation_poi...
self.factory.send_message_nl('asm m self.plac...
rotation_proc=rotation_proc+'self.h_rotate_ac...
self.factory.send_message_nl('asm m self.h_ro...
#self.factory.send_message_nl('asm m self.h_r...
rotation_proc=rotation_proc+'self.v_rotate_f(...
self.factory.send_message_nl('asm m self.v_ro...
if front_face_color=='yellow':
rotation_proc=rotation_proc+'self.h_rotat...
#rotation_proc=rotation_proc+'self.h_rota...
self.factory.send_message_nl('asm m self....
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
#self.factory.send_message_nl('asm m self...
return rotation_proc
elif front_face_color=='red':
return rotation_proc
elif front_face_color=='gray':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
return rotation_proc
elif front_face_color=='white':
rotation_proc=rotation_proc+'self.h_rotat...
self.factory.send_message_nl('asm m self....
self.factory.send_message_nl('asm m self....
return rotation_proc
dice_array_xz=[[0,0,0,0,0],[0,0,0,0,0],[0,0,0,0,0],[0...
def init_assemble_info(self):
for i in range(5):
for j in range(5):
self.dice_array_xz[i][j]=0
def generate_move_procedure(self,i,j,k):
proc=''
if k==0:
if i==0 and j==0:
proc=proc+'self.place_at_0_0()'
self.dice_array_xz[i][j]=1
elif i==1 and j==0:
if self.dice_array_xz[0][0]==1:
proc=proc+'self.place_at_1_0_nx_00()'
self.dice_array_xz[1][0]=1
elif self.dice_array_xz[0][0]==0:
proc=proc+'self.place_at_1_0_nx_00()'
self.dice_array_xz[1][0]=1
elif i==2 and j==0:
if self.dice_array_xz[1][0]==1:
proc=proc+'self.place_at_2_0_nx_10()'
self.dice_array_xz[2][0]=1
elif self.dice_array_xz[1][0]==0:
proc=proc+'self.place_at_2_0_nx_10()'
self.dice_array_xz[2][0]=1 ...
elif i==3 and j==0:
if self.dice_array_xz[2][0]==1:
proc=proc+'self.place_at_3_0_nx_20()'
self.dice_array_xz[3][0]=1
elif self.dice_array_xz[2][0]==0:
proc=proc+'self.place_at_3_0_nx_20()'
self.dice_array_xz[3][0]=1 ...
elif i==0 and j==1:
proc=proc+'self.place_at_0_1()'
self.dice_array_xz[i][j]=1
elif i==1 and j==1:
if self.dice_array_xz[0][1]==1:
proc=proc+'self.place_at_1_1_nx_01()'
self.dice_array_xz[1][1]=1
elif self.dice_array_xz[0][1]==0:
proc=proc+'self.place_at_1_1_nx_01()'
self.dice_array_xz[1][1]=1
elif i==2 and j==1:
if self.dice_array_xz[1][0]==1:
proc=proc+'self.place_at_2_1_nx_11()'
self.dice_array_xz[2][1]=1
elif self.dice_array_xz[1][0]==0:
proc=proc+'self.place_at_2_1_nx_11()'
self.dice_array_xz[2][1]=1
elif i==3 and j==1:
if self.dice_array_xz[2][0]==1:
proc=proc+'self.place_at_3_1_nx_21()'
self.dice_array_xz[3][1]=1
elif self.dice_array_xz[2][0]==0:
proc=proc+'self.place_at_3_1_nx_21()'
self.dice_array_xz[3][1]=1
elif k==1:
if i==0 and j==0:
proc=proc+'self.place_at_0_0_1()'
self.dice_array_xz[i][j]=1
elif i==1 and j==0:
if self.dice_array_xz[0][0]==1:
proc=proc+'self.place_at_1_0_1_nx_00()'
self.dice_array_xz[1][0]=1
elif i==2 and j==0:
if self.dice_array_xz[1][0]==1:
proc=proc+'self.place_at_2_0_1_nx_10()'
self.dice_array_xz[2][0]=1
elif i==3 and j==0:
if self.dice_array_xz[2][0]==1:
proc=proc+'self.place_at_3_0_1_nx_20()'
self.dice_array_xz[3][0]=1
elif i==0 and j==1:
proc=proc+'self.place_at_0_1_1()'
self.dice_array_xz[i][j]=1
elif i==1 and j==1:
if self.dice_array_xz[0][1]==1:
proc=proc+'self.place_at_1_1_1_nx_01()'
self.dice_array_xz[1][1]=1
elif i==2 and j==1:
if self.dice_array_xz[1][0]==1:
proc=proc+'self.place_at_2_1_1_nx_11()'
self.dice_array_xz[2][1]=1
elif i==3 and j==1:
if self.dice_array_xz[2][0]==1:
proc=proc+'self.place_at_3_1_1_nx_21()'
self.dice_array_xz[3][1]=1
self.factory.send_message_nl('asm m '+proc)
return proc+'\n'
def generate_assemble_procedure(self):
min_y=round(self.min_height())
max_y=round(self.max_height())
min_x=round(self.min_width())
max_x=round(self.max_width())
min_z=round(self.min_depth())
max_z=round(self.max_depth())
proc='asm start.\n'
self.factory.send_message_nl('asm start.')
for k in reversed(range(min_z, max_z+1)):
for j in range(min_y, max_y+1):
for i in range(min_x, max_x+1):
for cx in self.polygons_3D:
ccx=cx.get_cube_center()
iccx_x=round(ccx.x)
iccx_y=round(ccx.y)
iccx_z=round(ccx.z)
if i==iccx_x and j==iccx_y and k=...
#print(cx.get_cube_center())
#print(iccx_x, iccx_y, iccx_z)
#print(ccx.x, ccx.y, ccx.z)
proc=proc+'self.get_dice_from...
self.factory.send_message_nl(...
rproc=self.generate_rotation_...
if rproc=='#no need to rotate...
if k==1:
proc=proc+'self.send_...
self.factory.send_mes...
if k==2:
proc=proc+'self.send_...
self.factory.send_mes...
else:
proc=proc+rproc ...
proc=proc+'self.get_at_th...
self.factory.send_message...
mx=i-min_x
mz=max_z-k
my=j-min_y
mproc=self.generate_move_proc...
proc=proc+mproc
return proc
def __init__(self):
print("start Space.__init__")
self.root = Tk()
self.root.resizable(False, False)
self.root.title('3D')
#self.chat_client=chat_client
left = (self.root.winfo_screenwidth() - Space.WID...
top = (self.root.winfo_screenheight() - Space.HEI...
self.root.geometry('%dx%d+%d+%d' % (Space.WIDTH, ...
self.graph = Canvas(self.root, width=Space.WIDTH,...
self.graph.pack()
self.walls = [matrix.Vector3D(7.0, 0.0, 0.0), mat...
self.wallsnormals = [matrix.Vector3D(-1.0, 0.0, 0...
#################
# self.cubenormals = []
# for i in range(len(self.cubefaces)):
# poly = []
# for j in range(len(self.cubefaces[i])):
# poly.append(self.cube[self.cubefaces[i][j]])
# self.cubenormals.append(self.calcNormalVec(poly))
#################
self.ang = [0.0, 0.0, 0.0] # phi(x), theta(y), ps...
self.trans = [0.0, 0.0, 2.0] # translation (x, y,...
#The matrices (Scale, Shear, Rotate, Translate) apply to...
#The Scale Matrix
self.Scale = matrix.Matrix(4, 4)
Scalex = 1.0
Scaley = 1.0
Scalez = 1.0
self.Scale[(0,0)] = Scalex
self.Scale[(1,1)] = Scaley
self.Scale[(2,2)] = Scalez
#The Shear Matrix
self.Shearxy = matrix.Matrix(4, 4)
self.Shearxy[(0,2)] = 0.0
self.Shearxy[(1,2)] = 0.0
self.Shearxz = matrix.Matrix(4, 4)
self.Shearxz[(0,1)] = 0.0
self.Shearxz[(2,1)] = 0.0
self.Shearyz = matrix.Matrix(4, 4)
self.Shearyz[(1,0)] = 0.0
self.Shearyz[(2,0)] = 0.0
self.Shear = self.Shearxy*self.Shearxz*self.Shearyz
#The Rotation Matrices
self.Rotx = matrix.Matrix(4,4)
self.Roty = matrix.Matrix(4,4)
self.Rotz = matrix.Matrix(4,4)
#The Translation Matrix (will contain xoffset, yo...
self.Tr = matrix.Matrix(4, 4)
self.Tr[(0,3)] = self.trans[0]
self.Tr[(1,3)] = self.trans[1]
self.Tr[(2,3)] = self.trans[2]
#The Projection Matrix
self.Proj = matrix.Matrix(4, 4)
#foc controls how much of the screen is viewed
fov = 60.0 #between 30 and 90 ?
zfar = 100.0
znear = 0.1
S = 1/(math.tan(math.radians(fov/2)))
A = Space.WIDTH/Space.HEIGHT
self.Proj[(0,0)] = S/A
self.Proj[(1,1)] = S
self.Proj[(2,2)] = (zfar+znear)/(znear-zfar)
self.Proj[(3,2)] = -1.0
self.Proj[(2,3)] = 2*(zfar*znear)/(znear-zfar)
# self.Proj[(3,3)] = 0.0
#ToScreen Matrix
self.toSC = matrix.Matrix(4, 4)
self.toSC[(0,0)] = Space.WIDTH/2
self.toSC[(1,1)] = -Space.HEIGHT/2
self.toSC[(0,3)] = Space.WIDTH/2
self.toSC[(1,3)] = Space.HEIGHT/2
# self.root.bind("<B1-Motion>", self.dragcallback)
# self.root.bind("<ButtonRelease-1>", self.releasecallba...
self.root.bind("<Key>", self.keycallback)
# self.root.bind("<KeyRelease>", self.keyreleasecallback)
self.fnt = tkFont.Font(family='Helvetica', size=1...
cube1=Cube(self)
cube1.set_name("s*")
self.cube1=cube1
cc1=cube1.get_cube_center()
self.cxyz[round(cc1.x)+self.pcx][round(cc1.y)+sel...
print(self.cxyz)
self.polygons_3D=[cube1]
self.update(self.polygons_3D)
#self.client_start() #comment out for debug
#self.mainloop()
def start_3d(self):
self.root.mainloop()
def clear(self):
cube1=Cube(self)
cube1.set_name("s*")
self.cube1=cube1
self.polygons_3D=[cube1]
self.clear_cxyz()
cc1=cube1.get_cube_center()
self.cxyz[round(cc1.x)+self.pcx][round(cc1.y)+sel...
print(self.cxyz)
self.update(self.polygons_3D)
def lookUpCube(self,name):
for i in range(len(self.polygons_3D)):
cx=self.polygons_3D[i]
if name==cx.name :
return cx
return None
def update(self,polygons_3D):
# Main simulation loop.
self.graph.delete(ALL)
self.Rotx[(1,1)] = math.cos(math.radians(360.0-se...
self.Rotx[(1,2)] = -math.sin(math.radians(360.0-s...
self.Rotx[(2,1)] = math.sin(math.radians(360.0-se...
self.Rotx[(2,2)] = math.cos(math.radians(360.0-se...
self.Roty[(0,0)] = math.cos(math.radians(360.0-se...
self.Roty[(0,2)] = math.sin(math.radians(360.0-se...
self.Roty[(2,0)] = -math.sin(math.radians(360.0-s...
self.Roty[(2,2)] = math.cos(math.radians(360.0-se...
self.Rotz[(0,0)] = math.cos(math.radians(360.0-se...
self.Rotz[(0,1)] = -math.sin(math.radians(360.0-s...
self.Rotz[(1,0)] = math.sin(math.radians(360.0-se...
self.Rotz[(1,1)] = math.cos(math.radians(360.0-se...
#The Rotation matrix
self.Rot = self.Rotx*self.Roty*self.Rotz
#Translation (just copying)
self.Tr[(0,3)] = -self.trans[0]
self.Tr[(1,3)] = -self.trans[1]
self.Tr[(2,3)] = -self.trans[2]
#The Transformation matrix
self.Tsf = self.Scale*self.Shear*self.Rot*self.Tr
#Computing the normals in __init__ and only rotat...
# print '+++++++++++++++'
# for i in range(len(self.cubenormals)):
# print self.Rot*self.cubenormals[i]
# print '+++++++++++++++'
# print '************'
#Cube
for ic in range(len(polygons_3D)):
cubex=polygons_3D[ic]
cubex.update()
cubefaces=cubex.cubefaces
cls=cubex.cls
for i in range(len(cubefaces)):
poly = [] #transformed polygon
for j in range(len(cubefaces[0])):
cube=cubex.cube
v = cube[cubefaces[i][j]]
#Scale, Shear, Rotate the vertex arou...
r=self.Tsf*v
poly.append(r)
n=self.calcNormalVec(poly)
#print n
if not self.isPolygonFrontFace(poly[0], n...
continue
poly2d = []
inviewingvolume = False
for j in range(len(poly)):
#put the point from 3D to 2D
ps =self.Proj*poly[j]
# Puut the screenpoint in the list of...
p=self.toSC*ps
x=int(p.x)
y = int(p.y)
poly2d.append((x, y))
#if only one point is in the screen (...
if (-1.0 <= ps.x <= 1.0) and (-1.0 <=...
inviewingvolume = True
if inviewingvolume:
self.graph.create_polygon(*poly2d...
cfx=cubex.cfaces
xface=cfx[i]
xface_led=xface[0]
for k in range(len(xface_led)): #...
v=xface_led[k]
r=self.Tsf*v
ps=self.Proj*r
p = self.toSC*ps
x, y = int(p.x), int(p.y)
self.graph.create_rectangle(x...
v=xface[1] #photo tr
r=self.Tsf*v
ps=self.Proj*r
p=self.toSC*ps
x,y=int(p.x), int(p.y)
self.graph.create_rectangle(x,y, ...
# cfx=cubex.cfaces
# for i in range(len(cfx)):
# xface=cfx[i]
# xface_led=xface[0]
# for j in range(len(xface_led)):
# v=xface_led[j]
# r=self.Tsf*v
# ps=self.Proj*r
# p = self.toSC*ps
# x, y = int(p.x), int(p.y)
# self.graph.create_rectangle(x, y, x+...
# v=xface[1]
# r=self.Tsf*v
# ps=self.Proj*r
# p=self.toSC*ps
# x,y=int(p.x), int(p.y)
# self.graph.create_rectangle(x,y, x+3, y+...
#Texts (these are in camera-CS)
txt1 = 'xpos: '+str(self.trans[0])+' ypos: '+str(...
txt2 = 'xrot: '+str(self.ang[0])+' yrot: '+str(se...
self.idTxt1 = self.graph.create_text(30,30, text=...
self.idTxt2 = self.graph.create_text(30,60, text=...
vFwd = self.getForwardVec2(self.ang[1])
txt3 = 'Fwd: '+str(vFwd)
self.idTxt3 = self.graph.create_text(30,90, text=...
def isPolygonFrontFace(self, v, n):#Clockwise?
'''v is a vertex of the polygon, n is the normal-...
#The camera should be at (0.0, 0.0, 0.0) but that...
#It seems that the camera is at (0.0, 0.0, 1.0)
c = matrix.Vector3D(0.0, 0.0, 1.0)
vv = v-c
r = vv.dot(n)
return r < 0.0
def calcNormalVec(self, p):
'''p is an array of vertices of the polygon/face'''
v1 = p[0]-p[1]
v2 = p[0]-p[3]
v = v1.cross(v2)
v.normalize()
return v
def getForwardVec1(self): #Where the camera is facing...
m = self.Rot.invert()
f1 = m[(0,2)]
f2 = m[(1,2)]
f3 = m[(2,2)]
v = matrix.Vector3D(f1, f2, f3)
v.normalize()
#Forward vector is really backward one, so need to be n...
return -v
def getForwardVec2(self, yrot): #Where the camera is ...
f1 = -math.sin(math.radians(yrot))
f2 = 0.0
f3 = -math.cos(math.radians(yrot))
v = matrix.Vector3D(f1, f2, f3)
return v
def isCollisionPlanes(self, campos, camdir):
num = len(self.walls)
for i in range(num):
iscol, dist = self.isCollisionPlane(self.wall...
if iscol and dist < 0.1:
#print( i+1, dist)
return True
return False
def isCollisionPlane(self, p, n, campos, camdir):
'''instead of pointonplane (p) and normalofplane ...
dist = 0.0
#Dot Product Between Plane Normal And Ray Direction
dotprod = camdir.dot(n)
#Determine If Ray Parallel To Plane
if ((dotprod < Space.ZERO) and (dotprod > -Space....
return False, dist
#Find Distance To Collision Point
dist = (n.dot(p-campos))/dotprod
#Test If Collision Behind Start
if (dist < -Space.ZERO):
return False, dist
return True, dist
def isCollisionCube(self, campos,polygons_3D):
'''Checks if the camera is inside the cube (this ...
for i in range(len(polygons_3D)):
cube=(polygons_3D[i]).cube
cubefaces=(polygons_3D[i]).cubefaces
if (campos.z >= cube[cubefaces[0][0]].z and c...
return True
return False
def keycallback(self, event):
# print event.char
# print event.keycode
# print event.keysym
#Foward
if event.keysym == 'Up':
vFwd = self.getForwardVec2(self.ang[1])
#Is there a collison?
pos = matrix.Vector3D(self.trans[0]+vFwd.x*Sp...
if self.isCollisionPlanes(pos, vFwd):
return
if self.isCollisionCube(pos,self.polygons_3D):
return
self.trans[0] += vFwd.x*Space.SPEED
self.trans[2] += vFwd.z*Space.SPEED
#Backward
elif event.keysym == 'Down':
vFwd = self.getForwardVec2(self.ang[1])
vBck = -vFwd
#Is there a collison?
pos = matrix.Vector3D(self.trans[0]-vFwd.x*Sp...
if self.isCollisionPlanes(pos, vBck):
return
if self.isCollisionCube(pos,self.polygons_3D):
return
self.trans[0] -= vFwd.x*Space.SPEED
self.trans[2] -= vFwd.z*Space.SPEED
#Turn right
elif event.keysym == 'Right':
self.ang[1] -= 1.5
#Turn left
elif event.keysym == 'Left':
self.ang[1] += 1.5
#Upwards
elif event.keysym == 'u':
#Is there a collison?
pos = matrix.Vector3D(self.trans[0], self.tra...
vUp = matrix.Vector3D(0.0, 1.0, 0.0)
if self.isCollisionPlanes(pos, vUp):
return
if self.isCollisionCube(pos,self.polygons_3D):
return
self.trans[1] += Space.SPEED
#Downwards
elif event.keysym == 'd':
#Is there a collison?
pos = matrix.Vector3D(self.trans[0], self.tra...
vDwn = matrix.Vector3D(0.0, -1.0, 0.0)
if self.isCollisionPlanes(pos, vDwn):
return
if self.isCollisionCube(pos,self.polygons_3D):
return
self.trans[1] -= Space.SPEED
#Quit
elif event.keysym == 'Escape':
self.quit()
if self.ang[1] >= 360.0:
self.ang[1] -= 360.0
if self.ang[1] < 0.0:
self.ang[1] += 360.0
self.update(self.polygons_3D)
def quit(self):
self.root.quit()
def client_start(self):
""" start client """
print("start client_start")
handle_thread = threading.Thread(target=self.hand...
self.parse("send up \"str (this s* f2d1 next s*4 ...
self.parse("send up \"str (this s*4 f2d1 next s*4...
self.update(self.polygons_3D)
handle_thread = threading.Thread(target=self.hand...
handle_thread.start()
def handler(self):
""" receive commands from terminal """
while True:
print("input...")
line=input()
self.parse(line)
self.update(self.polygons_3D)
#def clear(self):
#cube1=Cube(self)
#cube1.set_name("s*")
#self.polygons_3D=[self.cube1]
#self.clear_cxyz()
#cc1=self.cube1.get_cube_center()
#self.cxyz[round(cc1.x)+self.pcx][round(cc1.y)+se...
#self.update(self.polygons_3D)
def parse(self,line):
#self.python2fwb(">"+line)
print("Space:parse "+line)
p=line.find("send up ")
if(p<0):
return
xl=line[(p+len("send up ")):]
#print("xl="+xl)
px=parser(xl)
px.rb()
if not (px.key("\"")):
return
if not px.key("str "):
return
px.rb()
if not px.key("("):
return
px.rb()
if not px.key("this "):
return
px.rb()
xn=[""]
if not px.d_name(xn):
return
px.rb()
dn1=xn[0]
cn=[(0,0)]
if not px.connect(cn):
return
cn1=cn[0]
px.rb()
if not px.key("next "):
return
px.rb()
xn=[""]
if not px.d_name(xn):
return
dn2=xn[0]
px.rb()
if not px.connect(cn):
return
cn2=cn[0]
px.rb()
if not px.key(")"):
return
px.rb()
if not px.key("\""):
return
px.rb()
if not px.key("."):
return
print("dn1="+dn1)
cc2=None
cube1=self.lookUpCube(dn1)
if cube1 == None:
print("new "+dn1)
cube1=Cube(self)
cube1.set_name(dn1)
self.polygons_3D.append(cube1)
cc1=cube1.get_cube_center()
self.cxyz[round(cc1.x)+self.pcx][round(cc1.y)...
print(self.cxyz)
print("dn2="+dn2)
cube2=self.lookUpCube(dn2)
if cube2 == None:
print("new "+dn2)
cube2=Cube(self)
cube2.set_name(dn2)
self.polygons_3D.append(cube2)
print(cn1)
print(cn2)
if1=cn1[0]
if2=cn2[0]
id1=cn1[1]
id2=cn2[1]
v2=cube1.get_next_place_position(if1)
cube2.moveTo(v2.x,v2.y,v2.z)
cube1.rotate_nextdoor_cube_until_match_the_face(i...
cube1.rotate_nextdoor_cube_until_match_the_direct...
self.update(self.polygons_3D)
cc2=cube2.get_cube_center()
self.cxyz[round(cc2.x)+self.pcx][round(cc2.y)+sel...
#print(self.cxyz)
#self.make_pjxy()
#self.make_pjyz()
#self.make_pjzx()
#print("rotate_z_cw_90")
#self.rotate_z_cw_90()
#self.make_pjxy()
#self.make_pjyz()
#self.make_pjzx()
#print("rotate_x_cw_90")
#self.rotate_x_cw_90()
#self.make_pjxy()
#self.make_pjyz()
#self.make_pjzx()
def set_factory(self,factory):
self.factory=factory
class parser:
#
# srs.
# ok.
# fid=2. received=ack1 face 4 dir 0 uDir 0.
# this face(2):dir(0)<-> next face(4):dir(0)
# send up "str (this s* f2d0 next s*4 f4d0)".
# fid=2, received=send up "str (this s*4 f2d0 next s*44 f...
# str (this s*4 f2d0 next s*44 f4d0)
# ok
# fid=2, received=send up "str (this s*44 f2d0 next s*444...
# str (this s*44 f2d0 next s*444 f4d0)".
# ok
#
def __init__(self,line):
self.line=line
print("parser init "+line)
def alpha(self,p2a):
#print("alpha line="+self.line)
c=self.line[0]
p2a[0]=c
if(c.isalpha()):
self.line=self.line[1:]
return True
return False
def digit(self,p2i):
#print("digit line="+self.line)
c=self.line[0]
if(c.isdigit()):
p2i[0]=int(c)
self.line=self.line[1:]
return True
return False
def d_name(self,xn):
#print("d_name line="+self.line)
cl=['']
if not self.alpha(cl):
return False
xn[0]=xn[0]+cl[0]
if not self.key("*"):
return False
xn[0]=xn[0]+"*"
dx=[0]
while self.digit(dx):
xn[0]=xn[0]+str(dx[0])
return True
def connect(self,tx):
#print("connect line="+self.line)
if not self.key("f"):
return False
fx=[0]
if not self.digit(fx):
return False
if not self.key("d"):
return False
dx=[0]
if not self.digit(dx):
return False
tx[0]=(fx[0],dx[0])
return True
def key(self,key):
#print("key line="+self.line)
#print("key="+key)
tf=self.line.startswith(key)
print(tf)
if(self.line.startswith(key)):
lk=len(key)
self.line=self.line[lk:]
return True
return False
def rb(self):
while self.key(' '):
continue
#
# +---------------------------------------------------...
# | TESLA ...
# | +-----------+ +--------------+ DICE ...
# | | mbed | |m5atom | ...
# | | |<--UART-->|tcp_server_ex1| ...
# | +-----------+ +--------------+ ...
# | ^ ...
# +--------------------------- | ---------------------...
# |
# wifi.... SSID YAMA-M5ATO...
# | PASS 12345678
# |
# +--------------------------- | ---------------------...
# | v PC ...
# | +------------------+ ...
# | |Chat_Client |
# | | |
# | v |
# | handler |
# | | |
# | v |
# | parser |
# | | |
# +----|-------------+
# |
# | put
# v
# +------------------+
# |ex04.py |
# | | |
# | v |
# | handler |
# +------------------+
#
# coding: utf-8
#from PIL import Image, ImageFont, ImageDraw
#import time
#import sys
#import requests
#import os
#import socket
#import threading
#from collections import deque
#import subprocess
#import copy
class Factory_Client:
sock = socket.socket(socket.AF_INET, socket.SOCK_STRE...
HOST = 'localhost'
PORT = 9998
def __init__(self):
print("start Factory_Client.__init__")
def start_input_thread(self):
handle_thread2 = threading.Thread(target=self.start...
handle_thread2.start()
# operation example
# 1. turn on all tesla dices
# 2. start this program, tesla_transformer_20240813...
# Graphics window will be displayed.
# 3. input h. for confirmation of the connection be...
# this program and tesla dices.
# 4. assemble the object by putting together the te...
# 5. input the command, "srs." for start recursive ...
# 6. the assemble object will be displayed on the g...
# 7. input the command, "rotate f."
# 8. input the command, "generate."
# 9. input the command, "assemble."
def send_message_nl(self,py2x_message):
msg=py2x_message+'\n'
try:
self.sock.sendall(msg.encode('utf-8',errors='re...
except Exception as e:
print("send message error: {0}".format(e))
return
print("send the message to the factory.")
def send_message(self,py2x_message):
msg=py2x_message
try:
self.sock.sendall(msg.encode('utf-8',errors='repl...
except Exception as e:
print("send message error: {0}".format(e))
def client_start(self):
"""start client"""
try:
self.sock.connect((self.HOST, self.PORT))
except Exception as e:
print("factory connect error: {0}".format(e))
return
print("factory {0}:{1} connected".format(self.HOST,...
handle_thread = threading.Thread(target=self.handle...
handle_thread.start()
def handler(self,sock):
"""receive the message from the server and print it...
while True:
lx=""
while True:
data = sock.recv(1024)
dl=len(data)
try:
rd=data.decode('utf-8')
except:
rd='?'*dl
for i in range(rd):
c=rd[i]
lx=lx+c
if c=="." or c=="\n":
print("[receive] "+lx)
lx=""
if c=="." or c=="\n":
break
print("[receive]-"+lx)
if self.space!=None:
print("factory-"+lx)
class Chat_Client:
sock = socket.socket(socket.AF_INET, socket.SOCK_STRE...
HOST = '192.168.4.1'
PORT = 23
def __init__(self):
print("start Chat_Client.__init__")
def set_space(self,space):
self.space=space
def start_input_thread(self):
handle_thread2 = threading.Thread(target=self.start...
handle_thread2.start()
def set_factory(self,factory):
self.factory=factory
# operation example
# 1. turn on all tesla dices
# 2. start this program, tesla_transformer_20240813...
# Graphics window will be displayed.
# 3. input the command, "connect dice."
# 4. input the commnad, "connect factory."
# 5. input h. for confirmation of the connection be...
# this program and tesla dices.
# 6. assemble the object by putting together the te...
# 7. input the command, "srs." for start recursive ...
# 8. the assemble object will be displayed on the g...
# 9. input the command, "rotate f."
# 10. input the command, "generate."
# 11. input the command, "assemble."
def start_input(self,sock):
print("sock=")
print(sock)
print("input...")
line=""
cx=bytearray(8)
while True:
try:
line=input()
if line=="clear.":
self.send_message("srr.")
self.space.clear()
elif line.startswith("connect "):
line=line[len("connect "):]
while line.startswith(" "):
line=line[1:]
if line.startswith("factory."):
self.factory.client_start()
elif line.startswith("dice."):
self.client_start()
elif line.startswith("print "):
line=line[len("print "):]
while line.startswith(" "):
line=line[1:]
if line.startswith("xy."):
space.make_pjxy()
elif line.startswith("yz."):
space.make_pjyz()
elif line.startswith("zx."):
space.make_pjzx()
elif line.startswith("rotate "):
line=line[len("rotate "):]
while line.startswith(" "):
line=line[1:]
if line.startswith("z."):
space.rotate_z_cw_90()
elif line.startswith("y."):
space.rotate_y_cw_90()
elif line.startswith("x."):
space.rotate_x_cw_90()
elif line.startswith("f."):
space.move_and_rotate_for_factory()
elif line.startswith("generate."):
self.proc=space.generate_assemble_procedu...
print("generated proc=")
print(self.proc)
elif line.startswith("assemble."):
self.factory.send_message_nl(self.proc)
elif line.startswith("send "):
space.parse(line)
else:
for i in range(len(line)):
c=line[i]
#c=readchar.readkey()
#print(c)
#cx[0]=c.encode('utf-8')
#cx[1]=0x00
sock.sendall(c.encode('ascii',errors=...
time.sleep(0.01)
except:
print("error")
def send_message_nl(self,py2x_message):
msg=py2x_message+'\n'
self.sock.sendall(msg.encode('ascii',errors='replac...
def send_message(self,py2x_message):
msg=py2x_message
try:
self.sock.sendall(msg.encode('ascii',errors='re...
except Exception as e:
print(e)
def parse(self,line):
vf.parse(line)
def client_start(self):
"""start client"""
self.sock.connect((self.HOST, self.PORT))
handle_thread = threading.Thread(target=self.handle...
handle_thread.start()
def handler(self,sock):
"""receive the message from the server and print it...
while True:
lx=""
while True:
data = sock.recv(1024)
dl=len(data)
try:
rd=data.decode('utf-8')
except:
rd='?'*dl
for i in range(dl):
c=rd[i]
lx=lx+c
if c=="." or c=="\n":
print("[receive] "+lx)
self.parseLines(lx)
lx=""
#print(c)
if c=="." or c=="\n":
break
print("[receive]-"+lx)
if self.space!=None:
print("parse-"+lx)
self.parseLines(lx)
def parseLines(self,ls):
lsx=ls.splitlines()
for i in range(len(lsx)):
self.space.parse(lsx[i])
class Offline_Client:
def __init__(self):
print("start Offline_Client.__init__")
def set_space(self,space):
self.space=space
def start_input_thread(self):
handle_thread2 = threading.Thread(target=self.sta...
handle_thread2.start()
def start_input(self,space):
print("input...")
line=""
while True:
try:
line=input()
if line=="clear.":
space.clear()
elif line.startswith("print "):
line=line[len("print "):]
while line.startswith(" "):
line=line[1:]
if line.startswith("xy."):
space.make_pjxy()
elif line.startswith("yz."):
space.make_pjyz()
elif line.startswith("zx."):
space.make_pjzx()
elif line.startswith("connect "):
line=line[len("connect "):]
while line.startswith(" "):
line=line[1:]
if line.startswith("factory."):
factory.client_start()
elif line.startswith("dice."):
client.client_start()
elif line.startswith("rotate "):
line=line[len("rotate "):]
while line.startswith(" "):
line=line[1:]
if line.startswith("z."):
space.rotate_z_cw_90()
elif line.startswith("y."):
space.rotate_y_cw_90()
elif line.startswith("x."):
space.rotate_x_cw_90()
elif line.startswith("f."):
space.move_and_rotate_for_factory()
elif line.startswith("generate."):
proc=space.generate_assemble_procedur...
print("generated proc=")
print(proc)
else:
space.parse(line)
except Exception as e:
print(e)
print("error")
if __name__ == "__main__":
client=Chat_Client()
#client=Offline_Client()
space=Space()
factory=Factory_Client()
client.set_space(space)
space.set_factory(factory)
#client.client_start()
client.start_input_thread()
client.set_factory(factory)
space.start_3d()
}}
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